重庆理工大学学报2024，Vol.38Issue(7)：31-38,8.DOI:10.3969/j.issn.1674-8425(z).2024.04.005
分布式驱动车辆直接横摆力矩与转向控制
Research on direct yaw moment and steering control of distributed drive vehicles
摘要
Abstract
To further improve the lateral stability of vehicles during steering and driving, this paper studies a distributed drive electric vehicle and proposes a control strategy by employing the phase plane method to determine the stable region and control the stability of the vehicle's motion state under a layered integrated architecture.The ideal lateral velocity and the ideal yaw rate obtained from the two degree of freedom model are used as input values for the upper controller.It adopts a dual sliding film controller structure to track the ideal lateral velocity and ideal yaw rate, and obtains the control values of the added angle and additional yaw moment.The lower level controller mainly coordinates the input and output values of steering control and yaw torque control based on the boundary values obtained by the phase plane method,then allocates the tire force and steering angle to the four wheels through the optimal allocation algorithm, and ultimately achieves the vehicle stability control.Our simulation of the control algorithm verifies the effectiveness and feasibility of the proposed control strategy.关键词
滑模控制/最优分配/质心侧偏角/横摆角速度/相平面Key words
sliding mode control/optimal allocation/centroid sideslip angle/yaw rate/phase plane分类
交通工程引用本文复制引用
夏长高,李亚洲..分布式驱动车辆直接横摆力矩与转向控制[J].重庆理工大学学报,2024,38(7):31-38,8.基金项目
苏北科技专项-先导性项目(SZ-YC202165) （SZ-YC202165）
